PRESENATTION ON SERVOMOTORS

MADE BY :-
JASDEEP KOUR
 WHAT IS A SERVOMOTOR
A servomotor (servo) is an electromechanical
device in which an electrical input determines the
position of the armature of a motor.
Servos are used extensively in robotics and radio-
controlled cars, airplanes, and boats.
It consists of the Stator windings and the Rotor .
The Rotor rotates with respect to the stator
windings which are placed in the magnetic field
being created by these current carrying coils
PICTORIAL REPRESENTATION OF A
SERVOMOTOR
DIAGRAM OF A SERVOMOTOR
 PARTS OF A SERVOMOTOR
A servo motor consists of several main parts,
1.the motor and gearbox,
2. a position sensor,
3. an error amplifier
4. motor driver and
5. a circuit to decode the requested position.
Figure below contains a block diagram of a
typical servo motor unit.
BLOCK DIAGRAM OF A TYPICAL
SERVOMOTOR SYSTEM
 Pulse width to voltage converter

The control pulse is feed to a pulse width to voltage

converter. This circuit charges a capacitor at a constant
rate while the pulse is high.
When the pulse goes low the charge on the capacitor
is fed to the output via a suitable buffer amplifier. This
essentially produces a voltage related to the length of
the applied pulse.
The circuit is tuned to produce a useful voltage over a
1ms to 2ms period. The output voltage is buffered and
so does not decay significantly between control pulses
so the length of time between pulses is not critical.
 Position Sensor

The current rotational position of the servo

motor output shaft is read by a sensor.
This is normally a potentiometer (variable
resistor) which produces a voltage that is related
to the absolute angle of the output shaft.
The position sensor then feeds its current value
into the Error Amplifier which compares the
current position with the commanded position
from the pulse width to voltage converter.
 Error Amplifier

The error amplifier is an operational amplifier

with negative feedback.
It always try to minimise the difference between
the inverting (negative) and non-inverting
(positive) inputs by driving its output is the
correct direction.
The error amplifier output is used to drive the
motor; If it is positive the motor will turn in one
direction, if negative the other
 HOW DOES A SERVOMOTOR WORKS
The servo motor has some control circuits and
a potentiometer (a variable resistor, i.e pot)
that is connected to the output shaft. The
potentiometer allows the control circuitry to
monitor the current angle of the servo motor.
If the shaft is at the correct angle, then the
motor shuts off. If the circuit finds that the
angle is not correct, it will turn the motor the
correct direction until the angle is correct
 Cont
. The output shaft of the servo is capable of
travelling somewhere around 180 degrees.
. The amount of power applied to the motor is
proportional to the distance it needs to travel.
So, if the shaft needs to turn a large distance,
the motor will run at full speed. If it needs to
turn only a small amount, the motor will run
at a slower speed. This is called proportional
control
WORKING OF A SERVOMOTOR
 CONT

. The amount of power applied to the motor is

proportional to the distance it needs to travel.
So, if the shaft needs to turn a large distance,
the motor will run at full speed. If it needs to
turn only a small amount, the motor will run
at a slower speed. This is called proportional
control
 REQUIREMENTS OF A GOOD
SERVOMOTOR
The requirements of a servomotor to be used
for feedback control systems are:-
1. Linear relationship between electrical control
signal and the rotor speed over a wide range
2. Its response should be as fast as possible
3. It should have linear torque speed
characterstics
4. Its operation should be stable without any
oscillations or overshoots
 TYPES OF SERVOMOTOR

SERVOMOTOR

A.C D.C SPECIAL

SERVOMOTOR SERVOMOTOR SERVOMOTOR

ARMATURE
CONTROLLED FIELD CONTROL
 FIELD CONTROLLED D.C SERVOMOTOR
While deriving the transfer function of the field
control d.c servomotor the following
assumptions are taken in to account:-
1. Constant armature current is fed to the motor
2. Flux produced is proportional to field current
i.e

3. Torque is proportional to the product of flux

and armature current
 CIRCUIT DIAGRAM OF A FIELD
CONTROLLED D.C SERVOMOTOR
 APPLICATION OF A SERVOMOTOR

The servomotor in this application has an

encoder attached to its shaft that is used to
provide velocity data as well as positioning data.
The pulse train from the encoder is sent to the
frequency-to-voltage converter, and the output
voltage signal from the converter is sent to the
summing junction.
A position setpoint is set in the up/down counter,
which is converted from a digital value to an
analog voltage.
servomotor that moves a welding
index table
 CONTD

The summing junction compares the position reference

signal to the velocity feedback signal and produces an
error signal that is sent to the op amp as the inverting
input signal.
If the error is negative, it means the motor hasn't
moved the table into the correct position, and
additional voltage will be sent to the motor from the
output signal from the op amp. The output signal from
the op amp must go through a pulse-width modulator
(PWM) circuit, a control logic circuit, and a motor
control circuit.
 CONTD
When the motor shaft moves the table, the
encoder will indicate that the table is at a new
position.
The position loop compares the set point
position (the desired position) in the up/down
counter buffer with the actual position that is
reported by the encoder.
The amount of difference is converted from a
digital signal to an analog voltage and sent to the
summing junction
 CONT
When the encoder indicates that the indexing
table is at the correct position, the setpoint
signal and the feedback signal will cancel each
other and the resulting signal value will be
zero, which means that no voltage is sent to
the motor so it will stop at that position.
 Application of a servomotor
controlling the speed of material
 Application of a beverage-filling
station controlled by a servomotor
 packaging system with random
timing functions controlled by a
servomotor.